I think its difficult to talk with no lips nor tongue. But in the fourth movie, the T-...600? does talk like a kid to lure Connor into an ambush, not wearing skin on nor anything, so probably they use a synthesizer instead of actually vocalizing.
What irks me more is why once they get to hand to hand combat with a human they don't just grab their victim by the neck and twist it like a chicken, instead of hurling them around again and again...